/*
*  Copyright 2018, Sebastian Pütz
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*  1. Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*
*  2. Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*
*  3. Neither the name of the copyright holder nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*
*  abstract_global_planner.h
*
*  author: Sebastian Pütz <spuetz@uniosnabrueck.de>
*
*/

#ifndef MBF_COSTMAP_CORE__COSTMAP_RECOVERY_H_
#define MBF_COSTMAP_CORE__COSTMAP_RECOVERY_H_

#include <mbf_abstract_core/abstract_recovery.h>
#include <costmap_2d/costmap_2d_ros.h>
#include <mbf_utility/types.h>

namespace mbf_costmap_core
{
/**
* @class CostmapRecovery
* @brief Provides an interface for recovery behaviors used in navigation.
* All recovery behaviors written to work as MBF plugins must adhere to this interface. Alternatively, this
* class can also operate as a wrapper for old API nav_corebased plugins, providing backward compatibility.
*/
class CostmapRecovery : public mbf_abstract_core::AbstractRecovery
{
public:

    typedef boost::shared_ptr<::mbf_costmap_core::CostmapRecovery> Ptr;

    /**
     * @brief Initialization function for the CostmapRecovery
     * @param tf A pointer to a transform listener
     * @param global_costmap A pointer to the global_costmap used by the navigation stack
     * @param local_costmap A pointer to the local_costmap used by the navigation stack
     */
    virtual void initialize(std::string name, TF *tf,
                            costmap_2d::Costmap2DROS *global_costmap,
                            costmap_2d::Costmap2DROS *local_costmap) = 0;

    /**
     * @brief Runs the CostmapRecovery
     * @param message The recovery behavior could set, the message should correspond to the return value
     * @return An outcome which will be hand over to the action result.
     */
    virtual uint32_t runBehavior(std::string &message) = 0;

    /**
     * @brief Requests the planner to cancel, e.g. if it takes too much time
     * @remark New on MBF API
     * @return True if a cancel has been successfully requested, false if not implemented.
     */
    virtual bool cancel() = 0;

    /**
     * @brief Virtual destructor for the interface
     */
    virtual ~CostmapRecovery() {}

protected:
    CostmapRecovery() {}

};
}  /* namespace mbf_costmap_core */

#endif /* MBF_COSTMAP_CORE__COSTMAP_RECOVERY_H_ */
